Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment

DOI10.1016/j.automatica.2015.10.029zbMath1329.93099OpenAlexW2191193810MaRDI QIDQ901204

Alessandro Saccon, Henk Nijmeijer, Nathan van de Wouw, Dennis Heck

Publication date: 23 December 2015

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2015.10.029

zbMATH Keywords

model reductionswitched systemmotion trackingforce trackingmanipulator control

Mathematics Subject Classification ID

Input-output approaches in control theory (93D25) Automated systems (robots, etc.) in control theory (93C85) System structure simplification (93B11) Artificial intelligence for robotics (68T40)

Related Items (5)

Adaptive hybrid impedance control for dual-arm cooperative manipulation with object uncertainties ⋮ Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing ⋮ A proportional-derivative-double derivative controller for robot manipulators ⋮ Stabilisation for teleoperation systems with sampled-data information feedback ⋮ An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method

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